Add conservative polyhedral friction cone approximation to TSID Scene to ensure that the contact wrenches lie within the friction cone. Friction coefficient should be a parameter.
[x] Add contact point friction constraint according to Focchi, M., del Prete, A., Havoutis, I. et al. High-slope terrain locomotion for torque-controlled quadruped robots. Auton Robot 41, 259–272 (2017). https://doi.org/10.1007/s10514-016-9573-1
Add conservative polyhedral friction cone approximation to TSID Scene to ensure that the contact wrenches lie within the friction cone. Friction coefficient should be a parameter.